Honeywell TARS Series User manual

Installation Instructions for the
Transportation Attitude Reference Sensor
TARS Series
Sensing and Internet of Things
Issue A
32332897
1.0 GENERAL INFORMATION
Honeywell’s Transportation Attitude Reference Sensor (TARS)
Interial Measurement Unit (IMU) is designed to provide motion
sensing through 6 degrees of freedom and reporting of
angular rate, acceleration, and inclination data through a CAN
J1939 interface. It is packaged for harsh environments and
demanding applications.
2.0 CALIBRATION
TARS-IMU devices are aligned to a flat surface and calibrated
on an aerospace-grade rate table providing consistency
between units and eliminating the customer’s need to calibrate
the IMU.
3.0 INSTALLATION
Mount the sensor using the three mounting holes and three
non-magnetic, stainless-steel socket head cap screws, M8 or
equivalent. Torque to 20 Nm ±2 Nm.
• Mating connector: AMPSEAL 16 Series, 776487-1 for 18-16
AWG conductors or 776524-1 for 20-18 AWG conductors
• Mounting direction: +Z

2 sensing.honeywell.com
Transportation Attitude Reference Sensor
(TARS Series)
ISSUE A 32332897
4.0 SPECIFICATIONS
Table 1. Sensor Specifications
Characteristic Min. Typ. Max. Unit
Gyroscope 3 axis performance
Angular rate range -245 – +245 deg/sec
Angular rate resolution – 7.8125 – mdps
In-run bias stability – 1 – mdps
Rate noise density – 0.004 – deg/sec/sqrt Hz
Offset (0 °C to 50 °C) -0.8 – +0.8 deg/sec
Offset (-40 °C to 85 °C) -1.6 – +1.6 deg/sec
Accelerometer 3 axis performance
Acceleration range -78.48 – +78.48 m/s2
Acceleration resolution – 0.01 – m/s2
In-run bias stability – 50 – mg
Acceleration noise density – 65 – mg/sqrt Hz
Offset (0 °C to 50 °C) – ±0.05 – m/s2
Offset (-40 °C to 85 °C) – ±0.15 – m/s2
Inclination (pitch and roll) performance
Range (2 axis x & y) -85 – +85 deg
Resolution – 0.058 – deg
Static inclination error
(0 °C to 50 °C) – ±0.3 – deg
Static inclination error
(-40 °C to 85 °C) – ±0.9 – deg
Translational acceleration error – ±0.5 – deg
Centripetal acceleration error – ±0.5 – deg
Settling time –  2000 mSec
Table 2. Electrical Characteristics • TARS-LCASS
Characteristic Min. Nominal Max. Unit
Supply voltage 4.5 5 5.5 V
Supply current – – 100 mA
Start-up time 500 – 2000 mSec
Short circuit protection CAN output shorted to power line and ground
Open circuit protection Single-line interruption and multiple-line interruption
Reset response Automatic after voltage drop
CAN output characteristics per SAE J1939
CAN Bus data rate – 250 – kBaud
Signal update rate – – 100 Hz

Sensing and Internet of Things 3
Transportation Attitude Reference Sensor
(TARS Series)
ISSUE A 32332897
Table 3. Electrical Characteristics • TARS-HCASS
Characteristic Min. Nominal Max. Unit
Supply voltage 9 14/28 36 V
Supply current – – 100 mA
Reverse voltage – – -36 V
Overvoltage – – 36 V
Start-up time 500 – 2000 mSec
Short circuit protection CAN output shorted to power line and ground
Open circuit protection Single-line interruption and multiple-line interruption
Reset response Automatic after voltage drop
CAN output characteristics per SAE J1939
CAN Bus data rate – 250 – kBaud
Signal update rate – – 100 Hz
Table 4. Environmental Specifications
Characteristic Parameter
Operating temperature -40 °C to 85 °C [40 °F to 185 °F]
Storage temperature -40 °C to 105 °C [40 °F to 221 °F]
Random vibration 8 hours per axis at 16.91 g RMS
per MIL-STD-202, Method 214, Test Condition I, Letter E
Mechanical shock 50 g 11 mS half-sine, 3 each direction, 18 total, pulse per MIL-STD-202, Method 213
Chemical compatibility
Diesel fuel, hydraulic oil, ethylene glycol, motor oil, brake fluid, urea nitrogen, liquid lime,
NPK fertilizer, ammonium hydroxide, alkaline degreaser, transmission oil, power steering
fluid, and axle oil
Moisture resistance per MIL-STD-202, Method 106 (10 cycles, 24 hours/cycle)
Thermal shock 250 cycles, -40 °C to 85 °C, 73 min dwells
Salt spray 5 % salt solution, 96 hours
Ingress protection IP67, IP69K (DIN40050-1993) with mating connector installed
RoHS Compliant
REACH Compliant
UV rating Enclosure material meets outdoor suitability requirements per UL746C F1 rating
Table 5. EMC Specifications
Characteristic Stndard Test Level, Frequency
Radiated immunity ISO 11452-2 125 V/m, 400 MHz to 2.5 GHz
Bulk current injection ISO 11452-4: 2011 125 mA, 1 MHz to 400 MHz
Radiated emission ISO 13766 30 MHz to 1 GHz
Mutual coupling ISO 7637-3 Test pulse A, Test pulse B (-80 V, 80 V)
ESD direct contact discharge ISO 10605 ±8 kV
ESD air discharge ISO 10605 ±15 kV

4 sensing.honeywell.com
Transportation Attitude Reference Sensor
(TARS Series)
ISSUE A 32332897
Table 6. Installation Specifications
Characteristic Parameter
Mating connector AMPSEAL 16 Series, 776487-1 for 18-16 AWG conductors or
776524-1 for 20-18 AWG conductors
CAN termination 120 Ohm termination resistor, not included in TARS-IMU unit
Weight 170 g approx.
Mounting direction + Z
Mounting bolt M8, installation torque 20 Nm ±2 Nm
5.0 DIMENSIONS
Figure 1. TARS Dimensions
2 x 45°
28
[1.10]
7,8 mm
[0.31 in]
25,5
[1.00]
16,7
[0.66]
7
[0.28]
3 x 0,53 ±0,10
[3 x 0.02 ±0.004]
Mounting
surface
3 x R 11,6
[3 x R 0.46]
Ø90,1
[Ø3.55]
Ø77,1
[Ø3.04]
Ø114
[Ø4.49]
2 x Ø8,87 ±0,03
[2 x 0.35 ±0.002]
2 x Ø8,87 ±0,03
[2 x 0.35 ±0.002]
21,9 [0.86]
17,7
[0.70]
138
[5.43]

Sensing and Internet of Things 5
Transportation Attitude Reference Sensor
(TARS Series)
ISSUE A 32332897
Figure 2. TARS Mounting Hole Dimensions
2 x 45°
Ø114
[Ø4.49]
3 x Ø14,7
[3 x Ø0.58]
sensor seating
3 x M8 thread
3 x Ø14,7
[3 x Ø0.58]
sensor seating 3 x M8 threa
d
Measured at three senso
r
seating positions
(Equivalent ordinate dimensions)
80,61
[3.17]
40,3
[1.59]
97,31
[3.83]
Figure 3. TARS Pin Output and Configuration Figure 4. TARS Part Number and Label Details
Pin 1
Pin 2
Pin 3
Pin 4
Connector
Termination
Pin
Description
1 dc power
2 CAN high
3 Ground
4 CAN low
Wher
e
04
Product configuration code
X32
Date code, where:
X: Year code for 2016, Y for 2017, Z for 2018, A f
or 2019, etc.
32: Week of final test
001
is a consecutive number, different for each product

6 sensing.honeywell.com
Transportation Attitude Reference Sensor
(TARS Series)
ISSUE A 32332897
6.0 CAN MESSAGES AND COMMUNICATION
TARS-IMU utilizes CAN J1939 protocol and message format to
report data. Please refer to J1939 specification and standards
for information regarding communication and implementing
CAN J1939 systems.
6.1 CAN J1939 Device Identification
The ID is a 4-byte value to identify the message being
transmitted.
• All J1939 messages are Ext CAN
• All messages have default priority
0 (lowest) <= priority <= 0x7 (highest)
• PDU formats < 0xF0 are peer to peer
PDU Specific is filled with destination address
• PDU formats >= 0xF0 are broadcast
PDU Specific further defines the message format
• PDU formats = 0xFF are global broadcast
• All J1939 messages end with the sending address in the last
byte
Table 7. J1939 ID Format
Extended PDU SA
Ext
CAN
Reserved Priority Reserved Data
Page
PDU
Format
PDU
Specific
Source
Address
1 Bit 2 Bits 3 Bits 1 Bit 1 Bit 8 Bits 8 Bits 8 Bits
1 Byte 1 Byte 1 Byte 1 Byte
7.0 TARSIMU SPECIFIC MESSAGES
The TARS-IMU transmits three messages every 10 mS (100 Hz).
7.1 PGN_61481 (0xF029) Inclination Angle(°)
broadcast data
Table 8. PGN_61481 Details
Pitch Inclination Angle Roll Inclination Angle Status Latency
1 Byte 1 Byte 1 Byte 1 Byte 1 Byte 1 Byte 1 Byte 1 Byte
0x00 0x00 0x7D 0x00 0x00 0x7D 0x00 0x0A
BL BM BH BL BM BH
uint32_t
uint32 = BH*2^16 + BM*2^8 + BL)
Inclination angle(°) = (uint32 - 81920q100) / 32768
7.2 PGN_61481 Status
The status byte is comprised of compensation status and
MEMs status for each value.
Table 9. PGN_61481 Status
Pitch Roll
Comp Status Comp Status
00b 00b 00b 00b
All status definitions are defined as:
00b = FullyFunctional
01b = Degraded
10b = Error
11b = NotAvailable
i.e. 0xCF029E2, 0x00, 0x00, 0x7D,0x00, 0x00, 0x7D, 0x00,
0x05
Transmit 0° inclination on both pitch and roll with priority 3,
fully functional MEMs and compensation with 5 mS latency
from address 0xE2.
7.3 PGN_61482 (0xF02A) Gyro(°/s) broadcast
Table 10. PGN_61482 Details
Pitch Rate Roll Rate Yaw Rate Status Latency
1 Byte 1 Byte 1 Byte 1 Byte 1 Byte 1 Byte 1 Byte 1 Byte
0x00 0x7D 0x00 0x7D 0x00 0x7D 0x00 0x0A
BL BH BL BH BL BH
uint16_t
uint16 = BH*2^8 + BL)
Rotation rate (°/s) = (uint16 - 32000) / (128 * DEG_PER_RAD)

Sensing and Internet of Things 7
Transportation Attitude Reference Sensor
(TARS Series)
ISSUE A 32332897
7.4 PGN_61482 Status
The status byte is comprised of status for each value measure.
Table 11. PGN_61482 Status
Status Unused
Pitch Roll Yaw
00b 00b 00b 00b
All status definitions are defined as:
00b = FullyFunctional
01b = Degraded
10b = Error
11b = NotAvailable
i.e. 0xCF02AE2, 0x00, 0x7D, 0x00,0x7D, 0x00, 0x7D, 0x00,
0x05
Transmit 0°/s pitch rate, roll rate, and yaw rate with priority 3,
fully functional MEMs with 5 mS latency from address 0xE2.
7.5 PGN_61485 (0xF02D) Accelerometer broadcast
Table 12. PGN_61485 Details
Lateral Longitudinal Vertical Status Latency
1 Byte 1 Byte 1 Byte 1 Byte 1 Byte 1 Byte 1 Byte 1 Byte
0x00 0x7D 0x00 0x7D 0x00 0x7D 0x00 0x0A
BL BH BL BH BL BH
uint16_tuint16 = BH*2^8 + BL)
Acceleration rate (m/s2) = (uint16 - 32000) / (100 * MS2_
PER_G)
The status byte is comprised of status for each value measure.
Table 13. PGN_61485 Status
Status Unused
Pitch Roll Yaw
00b 00b 00b 00b
All status definitions are defined as:
00b = FullyFunctional
01b = Degraded
10b = Error
11b = NotAvailable
i.e. 0xCF02DE2, 0x00, 0x7D, 0x00, 0x7D, 0xD5, 0x80, 0x00,
0x05
Transmit 0 m/s2on lateral and longitudinal acceleration, and
+1 g (9.80665m/s2) on vertical acceleration with priority 3, fully
functional MEMs with 5 mS latency from address 0xE2.

32332897-A-EN | A | 10/17
© 2017 Honeywell International Inc. All rights reserved.
WARRANTY/REMEDY
Honeywell warrants goods of its manufacture as being free of
defective materials and faulty workmanship during the appli-
cable warranty period. Honeywell’s standard product warranty
applies unless agreed to otherwise by Honeywell in writing;
please refer to your order acknowledgment or consult your
local sales office for specific warranty details. If warranted
goods are returned to Honeywell during the period of coverage,
Honeywell will repair or replace, at its option, without charge
those items that Honeywell, in its sole discretion, finds defec-
tive. The foregoing is buyer’s sole remedy and is in lieu of all
other warranties, expressed or implied, including those of
merchantability and fitness for a particular purpose. In no
event shall Honeywell be liable for consequential, special,
or indirect damages.
While Honeywell may provide application assistance personally,
through our literature and the Honeywell web site, it is buyer’s
sole responsibility to determine the suitability of the product in
the application.
Specifications may change without notice. The information we
supply is believed to be accurate and reliable as of this writing.
However, Honeywell assumes no responsibility for its use.
Transportation Attitude Reference Sensor (TARS Series) ISSUE A 32332897
Honeywell Sensing and Internet of Things
9680 Old Bailes Road
Fort Mill, SC 29707
www.honeywell.com
mWARNING
PERSONAL INJURY
DO NOT USE these products as safety or emergency stop
devices or in any other application where failure of the
product could result in personal injury.
Failure to comply with these instructions could result in
death or serious injury.
mWARNING
IMPROPER INSTALLATION
• Consult with local safety agencies and their
requirements when designing a machine-control link,
interface, and all control elements that affect safety.
• Strictly adhere to all installation instructions.
Failure to comply with these instructions could result in
death or serious injury.
For more information
Honeywell Sensing and Internet of
Things services its customers through a
worldwide network of sales offices and
distributors. For application assistance,
current specifications, pricing or the
nearest Authorized Distributor, visit
sensing.honeywell.com or call:
Asia Pacific [phone]
Europe [phone]
USA/Canada [phone]